Diff: Hardwares/IMUManager.h

Revision:

59:b709711bc566

Child:

62:bc5caf59fe39

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hardwares/IMUManager.h	Sat Apr 08 17:40:13 2017 +0000
@@ -0,0 +1,70 @@
+#pragma once
+#ifndef IMU_MANAGER_H
+#define IMU_MANAGER_H
+
+#define ACCEL_MAG_SA0_0
+//#define ACCEL_MAG_SA0_1
+#define ACCEL_MAG_SA1_0
+//#define ACCEL_MAG_SA1_1
+
+#if   defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_0)
+    #define ACCEL_MAG_SA1 0
+    #define ACCEL_MAG_SA0 0
+    #define FXOS8700CQ_SLAVE_ADDR 0x1E
+#elif defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_1)
+    #define ACCEL_MAG_SA1 0
+    #define ACCEL_MAG_SA0 1
+    #define FXOS8700CQ_SLAVE_ADDR 0x1D
+#elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_0)
+    #define ACCEL_MAG_SA1 1
+    #define ACCEL_MAG_SA0 0
+    #define FXOS8700CQ_SLAVE_ADDR 0x1C
+#elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_1)
+    #define ACCEL_MAG_SA1 1
+    #define ACCEL_MAG_SA0 1
+    #define FXOS8700CQ_SLAVE_ADDR 0x1F
+#else
+    #error Must choose a SA0 and SA1 value for Accel and Mag
+#endif
+
+#define FXOS8700CQ_STATUS 0x00
+
+#define FXOS8700CQ_WHOAMI 0x0D
+#define FXOS8700CQ_WHOAMI_VAL 0xC7
+
+#define FXOS8700CQ_XYZ_DATA_CFG 0x0E
+
+#define FXOS8700CQ_CTRL_REG1 0x2A
+
+#define FXOS8700CQ_M_CTRL_REG1 0x5B
+
+#define FXOS8700CQ_M_CTRL_REG2 0x5C
+
+#define FXOS8700CQ_READ_LEN 13 // status plus 6 channels = 13 bytes
+
+#include <mbed.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct imu_vec3
+{
+    uint16_t x;
+    uint16_t y;
+    uint16_t z;
+};
+
+uint8_t imu_manager_init();
+
+void imu_manager_update();
+
+const volatile struct imu_vec3* imu_manager_get_accl();
+
+const volatile struct imu_vec3* imu_manager_get_magt();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //IMU_MANAGER_H
\ No newline at end of file